File syn_cia402.h¶

FileList > proto > syn_cia402.h

CANopen CiA 402 Device Profile for Drives and Motion Control. More...

#include "../common/syn_defs.h"
#include "syn_canopen.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Classes¶

Type	Name
struct	SYN_CIA402_Axis CiA 402 Axis Instance.
struct	SYN_CIA402_Config CiA 402 axis configuration parameters.
struct	SYN_CIA402_Setpoints CiA 402 motion controller setpoint outputs for motor loop / FOC.

Public Types¶

Type	Name
enum	SYN_CIA402_Mode CiA 402 operation modes.
enum	SYN_CIA402_State CiA 402 Finite State Machine state enumeration.
typedef SYN_CIA402_Config	SYN_CiA402Config
typedef SYN_CIA402_Axis	SYN_CiA402Drive
typedef SYN_CIA402_State	SYN_CiA402State

Public Functions¶

Type	Name
SYN_Status	syn_cia402_feed_feedback (SYN_CIA402_Axis * axis, int32_t pos_actual, int32_t vel_actual, int16_t torque_actual) Feed measured actual values (encoder position, velocity, torque) to axis.
uint16_t	syn_cia402_get_controlword (const SYN_CIA402_Axis * axis) Read current Controlword (Index 0x6040).
int8_t	syn_cia402_get_mode (const SYN_CIA402_Axis * axis) Get requested Mode of Operation (Index 0x6060).
int8_t	syn_cia402_get_mode_display (const SYN_CIA402_Axis * axis) Get active Mode of Operation Display (Index 0x6061).
SYN_CIA402_State	syn_cia402_get_state (const SYN_CIA402_Axis * axis) Get current FSM state.
uint16_t	syn_cia402_get_statusword (const SYN_CIA402_Axis * axis) Read current Statusword (Index 0x6041).
SYN_Status	syn_cia402_init (SYN_CIA402_Axis * axis, const SYN_CIA402_Config * cfg) Initialize CiA 402 Axis controller.
size_t	syn_cia402_populate_od (SYN_CANOpenODEntry * od_table, size_t max_entries, SYN_CIA402_Axis * axis) Populate a CANopen Object Dictionary table with standard CiA 402 objects.
SYN_Status	syn_cia402_report_actuals (SYN_CIA402_Axis * axis, int32_t pos_actual, int32_t vel_actual, int16_t torque_actual) Feed measured actual values alias for compatibility.
SYN_Status	syn_cia402_set_controlword (SYN_CIA402_Axis * axis, uint16_t cw) Set Controlword (Index 0x6040) from master / RPDO / SDO.
SYN_Status	syn_cia402_set_mode (SYN_CIA402_Axis * axis, int8_t mode) Request Mode of Operation (Index 0x6060).
SYN_Status	syn_cia402_set_target_position (SYN_CIA402_Axis * axis, int32_t pos) Set target position (Index 0x607A).
SYN_Status	syn_cia402_set_target_torque (SYN_CIA402_Axis * axis, int16_t torque) Set target torque (Index 0x6071).
SYN_Status	syn_cia402_set_target_velocity (SYN_CIA402_Axis * axis, int32_t vel) Set target velocity (Index 0x60FF).
SYN_Status	syn_cia402_step (SYN_CIA402_Axis * axis, uint32_t dt_us, SYN_CIA402_Setpoints * out_setpoints) Execute periodic CiA 402 control loop step in microseconds.
SYN_Status	syn_cia402_trigger_fault (SYN_CIA402_Axis * axis, uint16_t error_code) Trigger a drive fault and enter FAULT_REACTION_ACTIVE / FAULT state.
SYN_Status	syn_cia402_update (SYN_CIA402_Axis * axis, uint32_t dt_ms) Periodic motion update in milliseconds.

Macros¶

Type	Name
define	SYN_CIA402_CW_CHANGE_IMMEDIATELY `(1U << 5)`
define	SYN_CIA402_CW_CHANGE_ON_SETPOINT `(1U << 9)`
define	SYN_CIA402_CW_ENABLE_OPERATION `(1U << 3)`
define	SYN_CIA402_CW_ENABLE_VOLTAGE `(1U << 1)`
define	SYN_CIA402_CW_FAULT_RESET `(1U << 7)`
define	SYN_CIA402_CW_HALT `(1U << 8)`
define	SYN_CIA402_CW_NEW_SETPOINT `(1U << 4)`
define	SYN_CIA402_CW_QUICK_STOP `(1U << 2)`
define	SYN_CIA402_CW_RELATIVE `(1U << 6)`
define	SYN_CIA402_CW_SWITCH_ON `(1U << 0)`
define	SYN_CIA402_OD_CONTROLWORD `0x6040U`
define	SYN_CIA402_OD_FOLLOWING_ERROR_WINDOW `0x6065U`
define	SYN_CIA402_OD_HOMING_ACCELERATION `0x609BU`
define	SYN_CIA402_OD_HOMING_METHOD `0x6098U`
define	SYN_CIA402_OD_HOMING_SPEED_FAST `0x6099U`
define	SYN_CIA402_OD_HOMING_SPEED_SLOW `0x609AU`
define	SYN_CIA402_OD_MAX_TORQUE `0x6072U`
define	SYN_CIA402_OD_MODES_OF_OPERATION `0x6060U`
define	SYN_CIA402_OD_MODES_OF_OPERATION_DISPLAY `0x6061U`
define	SYN_CIA402_OD_POSITION_ACTUAL_VALUE `0x6064U`
define	SYN_CIA402_OD_POSITION_DEMAND_VALUE `0x6062U`
define	SYN_CIA402_OD_POSITION_WINDOW `0x6067U`
define	SYN_CIA402_OD_PROFILE_ACCELERATION `0x6083U`
define	SYN_CIA402_OD_PROFILE_DECELERATION `0x6084U`
define	SYN_CIA402_OD_PROFILE_VELOCITY `0x6081U`
define	SYN_CIA402_OD_QUICK_STOP_DECELERATION `0x6085U`
define	SYN_CIA402_OD_QUICK_STOP_OPTION `0x605AU`
define	SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MAX `0x607EU`
define	SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MIN `0x607DU`
define	SYN_CIA402_OD_STATUSWORD `0x6041U`
define	SYN_CIA402_OD_TARGET_POSITION `0x607AU`
define	SYN_CIA402_OD_TARGET_TORQUE `0x6071U`
define	SYN_CIA402_OD_TARGET_VELOCITY `0x60FFU`
define	SYN_CIA402_OD_TORQUE_ACTUAL_VALUE `0x6077U`
define	SYN_CIA402_OD_TORQUE_SLOPE `0x6087U`
define	SYN_CIA402_OD_VELOCITY_ACTUAL_VALUE `0x606CU`
define	SYN_CIA402_SW_FAULT `(1U << 3)`
define	SYN_CIA402_SW_FOLLOWING_ERROR `(1U << 13)`
define	SYN_CIA402_SW_HOMING_ATTAINED `(1U << 12)`
define	SYN_CIA402_SW_HOMING_ERROR `(1U << 13)`
define	SYN_CIA402_SW_INTERNAL_LIMIT `(1U << 11)`
define	SYN_CIA402_SW_MANUFACTURER_8 `(1U << 8)`
define	SYN_CIA402_SW_OPERATION_ENABLED `(1U << 2)`
define	SYN_CIA402_SW_QUICK_STOP `(1U << 5)`
define	SYN_CIA402_SW_READY_TO_SWITCH_ON `(1U << 0)`
define	SYN_CIA402_SW_REMOTE `(1U << 9)`
define	SYN_CIA402_SW_SETPOINT_ACK `(1U << 12)`
define	SYN_CIA402_SW_SPEED_ZERO `(1U << 12)`
define	SYN_CIA402_SW_SWITCHED_ON `(1U << 1)`
define	SYN_CIA402_SW_SWITCH_ON_DISABLED `(1U << 6)`
define	SYN_CIA402_SW_TARGET_REACHED `(1U << 10)`
define	SYN_CIA402_SW_VOLTAGE_ENABLED `(1U << 4)`
define	SYN_CIA402_SW_WARNING `(1U << 7)`

Detailed Description¶

Implements a zero-heap, deterministic CiA 402 Drive Finite State Machine (Controlword 0x6040 / Statusword 0x6041), Motion Modes of Operation (PP, PV, PT, HM, CSP, CSV, CST), trapezoidal trajectory generation, following error supervision, and standard CANopen Object Dictionary binding.

Public Types Documentation¶

enum SYN_CIA402_Mode¶

CiA 402 operation modes.

enum SYN_CIA402_Mode {
    SYN_CIA402_MODE_NO_MODE = 0,
    SYN_CIA402_MODE_PROFILE_POSITION = 1,
    SYN_CIA402_MODE_PP = 1,
    SYN_CIA402_MODE_PROFILE_VELOCITY = 3,
    SYN_CIA402_MODE_PV = 3,
    SYN_CIA402_MODE_PROFILE_TORQUE = 4,
    SYN_CIA402_MODE_PT = 4,
    SYN_CIA402_MODE_HOMING = 6,
    SYN_CIA402_MODE_HM = 6,
    SYN_CIA402_MODE_CYCLIC_SYNC_POSITION = 8,
    SYN_CIA402_MODE_CSP = 8,
    SYN_CIA402_MODE_CYCLIC_SYNC_VELOCITY = 9,
    SYN_CIA402_MODE_CSV = 9,
    SYN_CIA402_MODE_CYCLIC_SYNC_TORQUE = 10,
    SYN_CIA402_MODE_CST = 10
};

enum SYN_CIA402_State¶

CiA 402 Finite State Machine state enumeration.

enum SYN_CIA402_State {
    SYN_CIA402_STATE_NOT_READY_TO_SWITCH_ON = 0,
    SYN_CIA402_STATE_NOT_READY = 0,
    SYN_CIA402_STATE_SWITCH_ON_DISABLED = 1,
    SYN_CIA402_STATE_READY_TO_SWITCH_ON = 2,
    SYN_CIA402_STATE_SWITCHED_ON = 3,
    SYN_CIA402_STATE_OPERATION_ENABLED = 4,
    SYN_CIA402_STATE_QUICK_STOP_ACTIVE = 5,
    SYN_CIA402_STATE_FAULT_REACTION_ACTIVE = 6,
    SYN_CIA402_STATE_FAULT = 7
};

typedef SYN_CiA402Config¶

typedef SYN_CIA402_Config SYN_CiA402Config;

Alias for SYN_CIA402_Config for backwards-compatibility.

typedef SYN_CiA402Drive¶

typedef SYN_CIA402_Axis SYN_CiA402Drive;

Alias for SYN_CIA402_Axis for backwards-compatibility.

typedef SYN_CiA402State¶

typedef SYN_CIA402_State SYN_CiA402State;

Alias for SYN_CIA402_State for backwards-compatibility.

Public Functions Documentation¶

function syn_cia402_feed_feedback¶

Feed measured actual values (encoder position, velocity, torque) to axis.

SYN_Status syn_cia402_feed_feedback (
    SYN_CIA402_Axis * axis,
    int32_t pos_actual,
    int32_t vel_actual,
    int16_t torque_actual
)

Parameters:

axis Axis instance.
pos_actual Actual position (counts).
vel_actual Actual velocity (counts/s).
torque_actual Actual torque (0.1% rated).

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_get_controlword¶

Read current Controlword (Index 0x6040).

uint16_t syn_cia402_get_controlword (
    const SYN_CIA402_Axis * axis
)

Parameters:

axis Axis instance.

Returns:

Controlword value (0 on NULL).

function syn_cia402_get_mode¶

Get requested Mode of Operation (Index 0x6060).

int8_t syn_cia402_get_mode (
    const SYN_CIA402_Axis * axis
)

Parameters:

axis Axis instance.

Returns:

Mode of operation.

function syn_cia402_get_mode_display¶

Get active Mode of Operation Display (Index 0x6061).

int8_t syn_cia402_get_mode_display (
    const SYN_CIA402_Axis * axis
)

Parameters:

axis Axis instance.

Returns:

Mode of operation display.

function syn_cia402_get_state¶

Get current FSM state.

SYN_CIA402_State syn_cia402_get_state (
    const SYN_CIA402_Axis * axis
)

Parameters:

axis Axis instance.

Returns:

Current FSM state.

function syn_cia402_get_statusword¶

Read current Statusword (Index 0x6041).

uint16_t syn_cia402_get_statusword (
    const SYN_CIA402_Axis * axis
)

Parameters:

axis Axis instance.

Returns:

Statusword value (0 on NULL).

function syn_cia402_init¶

Initialize CiA 402 Axis controller.

SYN_Status syn_cia402_init (
    SYN_CIA402_Axis * axis,
    const SYN_CIA402_Config * cfg
)

Parameters:

axis Axis instance.
cfg Initial configuration parameters.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL parameters.

function syn_cia402_populate_od¶

Populate a CANopen Object Dictionary table with standard CiA 402 objects.

size_t syn_cia402_populate_od (
    SYN_CANOpenODEntry * od_table,
    size_t max_entries,
    SYN_CIA402_Axis * axis
)

Binds 0x6040 (Controlword), 0x6041 (Statusword), 0x6060..0x60FF objects directly to the live fields of the given axis instance.

Parameters:

od_table Destination array of Object Dictionary entries.
max_entries Size of od_table.
axis Axis instance to bind.

Returns:

Number of entries populated (0 on error or insufficient capacity).

function syn_cia402_report_actuals¶

Feed measured actual values alias for compatibility.

SYN_Status syn_cia402_report_actuals (
    SYN_CIA402_Axis * axis,
    int32_t pos_actual,
    int32_t vel_actual,
    int16_t torque_actual
)

Parameters:

axis Axis instance.
pos_actual Actual position (counts).
vel_actual Actual velocity (counts/s).
torque_actual Actual torque (0.1% rated).

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_set_controlword¶

Set Controlword (Index 0x6040) from master / RPDO / SDO.

SYN_Status syn_cia402_set_controlword (
    SYN_CIA402_Axis * axis,
    uint16_t cw
)

Parameters:

axis Axis instance.
cw Controlword value.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_set_mode¶

Request Mode of Operation (Index 0x6060).

SYN_Status syn_cia402_set_mode (
    SYN_CIA402_Axis * axis,
    int8_t mode
)

Parameters:

axis Axis instance.
mode Requested mode (SYN_CIA402_MODE_*).

Returns:

SYN_OK on success, SYN_INVALID_PARAM on invalid mode.

function syn_cia402_set_target_position¶

Set target position (Index 0x607A).

SYN_Status syn_cia402_set_target_position (
    SYN_CIA402_Axis * axis,
    int32_t pos
)

Parameters:

axis Axis instance.
pos Target position in counts.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_set_target_torque¶

Set target torque (Index 0x6071).

SYN_Status syn_cia402_set_target_torque (
    SYN_CIA402_Axis * axis,
    int16_t torque
)

Parameters:

axis Axis instance.
torque Target torque in 0.1% rated torque.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_set_target_velocity¶

Set target velocity (Index 0x60FF).

SYN_Status syn_cia402_set_target_velocity (
    SYN_CIA402_Axis * axis,
    int32_t vel
)

Parameters:

axis Axis instance.
vel Target velocity in counts/s.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_step¶

Execute periodic CiA 402 control loop step in microseconds.

SYN_Status syn_cia402_step (
    SYN_CIA402_Axis * axis,
    uint32_t dt_us,
    SYN_CIA402_Setpoints * out_setpoints
)

Evaluates state machine transitions, computes motion ramps, performs following error supervision, updates Statusword, and outputs motor setpoints.

Parameters:

axis Axis instance.
dt_us Time elapsed since last step in microseconds.
out_setpoints Output setpoint commands (may be NULL if not needed).

Returns:

SYN_OK on success, error code on failure.

function syn_cia402_trigger_fault¶

Trigger a drive fault and enter FAULT_REACTION_ACTIVE / FAULT state.

SYN_Status syn_cia402_trigger_fault (
    SYN_CIA402_Axis * axis,
    uint16_t error_code
)

Parameters:

axis Axis instance.
error_code Fault error code (e.g. overcurrent, limit tripped, tracking error).

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

function syn_cia402_update¶

Periodic motion update in milliseconds.

SYN_Status syn_cia402_update (
    SYN_CIA402_Axis * axis,
    uint32_t dt_ms
)

Parameters:

axis Axis instance.
dt_ms Time delta in milliseconds.

Returns:

SYN_OK on success, SYN_INVALID_PARAM on NULL.

Macro Definition Documentation¶

define SYN_CIA402_CW_CHANGE_IMMEDIATELY¶

#define SYN_CIA402_CW_CHANGE_IMMEDIATELY `(1U << 5)`

Bit 5: Change Set-point Immediately (PP) \

define SYN_CIA402_CW_CHANGE_ON_SETPOINT¶

#define SYN_CIA402_CW_CHANGE_ON_SETPOINT `(1U << 9)`

Bit 9: Change on Set-point (PP)

define SYN_CIA402_CW_ENABLE_OPERATION¶

#define SYN_CIA402_CW_ENABLE_OPERATION `(1U << 3)`

Bit 3: Enable Operation

define SYN_CIA402_CW_ENABLE_VOLTAGE¶

#define SYN_CIA402_CW_ENABLE_VOLTAGE `(1U << 1)`

Bit 1: Enable Voltage

define SYN_CIA402_CW_FAULT_RESET¶

#define SYN_CIA402_CW_FAULT_RESET `(1U << 7)`

Bit 7: Fault Reset (0 -> 1 rising edge)

define SYN_CIA402_CW_HALT¶

#define SYN_CIA402_CW_HALT `(1U << 8)`

Bit 8: Halt axis

define SYN_CIA402_CW_NEW_SETPOINT¶

#define SYN_CIA402_CW_NEW_SETPOINT `(1U << 4)`

Bit 4: New Set-point (PP) / Start Homing (HM)

define SYN_CIA402_CW_QUICK_STOP¶

#define SYN_CIA402_CW_QUICK_STOP `(1U << 2)`

Bit 2: Quick Stop (active low: 0=stop)

define SYN_CIA402_CW_RELATIVE¶

#define SYN_CIA402_CW_RELATIVE `(1U << 6)`

Bit 6: Relative Positioning (PP: 0=Abs, 1=Rel)

define SYN_CIA402_CW_SWITCH_ON¶

#define SYN_CIA402_CW_SWITCH_ON `(1U << 0)`

Bit 0: Switch On

define SYN_CIA402_OD_CONTROLWORD¶

#define SYN_CIA402_OD_CONTROLWORD `0x6040U`

Controlword (U16)

define SYN_CIA402_OD_FOLLOWING_ERROR_WINDOW¶

#define SYN_CIA402_OD_FOLLOWING_ERROR_WINDOW `0x6065U`

Following Error Window (U32)

define SYN_CIA402_OD_HOMING_ACCELERATION¶

#define SYN_CIA402_OD_HOMING_ACCELERATION `0x609BU`

Homing Acceleration (U32)

define SYN_CIA402_OD_HOMING_METHOD¶

#define SYN_CIA402_OD_HOMING_METHOD `0x6098U`

Homing Method (I8)

define SYN_CIA402_OD_HOMING_SPEED_FAST¶

#define SYN_CIA402_OD_HOMING_SPEED_FAST `0x6099U`

Homing Speed Switch (U32)

define SYN_CIA402_OD_HOMING_SPEED_SLOW¶

#define SYN_CIA402_OD_HOMING_SPEED_SLOW `0x609AU`

Homing Speed Zero (U32)

define SYN_CIA402_OD_MAX_TORQUE¶

#define SYN_CIA402_OD_MAX_TORQUE `0x6072U`

Max Torque (U16, 0.1% rated)

define SYN_CIA402_OD_MODES_OF_OPERATION¶

#define SYN_CIA402_OD_MODES_OF_OPERATION `0x6060U`

Modes of Operation (I8)

define SYN_CIA402_OD_MODES_OF_OPERATION_DISPLAY¶

#define SYN_CIA402_OD_MODES_OF_OPERATION_DISPLAY `0x6061U`

Modes of Operation Display (I8)

define SYN_CIA402_OD_POSITION_ACTUAL_VALUE¶

#define SYN_CIA402_OD_POSITION_ACTUAL_VALUE `0x6064U`

Position Actual Value (I32)

define SYN_CIA402_OD_POSITION_DEMAND_VALUE¶

#define SYN_CIA402_OD_POSITION_DEMAND_VALUE `0x6062U`

Position Demand Value (I32)

define SYN_CIA402_OD_POSITION_WINDOW¶

#define SYN_CIA402_OD_POSITION_WINDOW `0x6067U`

Position Window (U32)

define SYN_CIA402_OD_PROFILE_ACCELERATION¶

#define SYN_CIA402_OD_PROFILE_ACCELERATION `0x6083U`

Profile Acceleration (U32)

define SYN_CIA402_OD_PROFILE_DECELERATION¶

#define SYN_CIA402_OD_PROFILE_DECELERATION `0x6084U`

Profile Deceleration (U32)

define SYN_CIA402_OD_PROFILE_VELOCITY¶

#define SYN_CIA402_OD_PROFILE_VELOCITY `0x6081U`

Profile Velocity (U32)

define SYN_CIA402_OD_QUICK_STOP_DECELERATION¶

#define SYN_CIA402_OD_QUICK_STOP_DECELERATION `0x6085U`

Quick Stop Deceleration (U32)

define SYN_CIA402_OD_QUICK_STOP_OPTION¶

#define SYN_CIA402_OD_QUICK_STOP_OPTION `0x605AU`

Quick Stop Option Code (I16)

define SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MAX¶

#define SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MAX `0x607EU`

Software Position Limit Max (I32)

define SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MIN¶

#define SYN_CIA402_OD_SOFTWARE_POS_LIMIT_MIN `0x607DU`

Software Position Limit Min (I32)

define SYN_CIA402_OD_STATUSWORD¶

#define SYN_CIA402_OD_STATUSWORD `0x6041U`

Statusword (U16)

define SYN_CIA402_OD_TARGET_POSITION¶

#define SYN_CIA402_OD_TARGET_POSITION `0x607AU`

Target Position (I32)

define SYN_CIA402_OD_TARGET_TORQUE¶

#define SYN_CIA402_OD_TARGET_TORQUE `0x6071U`

Target Torque (I16, 0.1% rated)

define SYN_CIA402_OD_TARGET_VELOCITY¶

#define SYN_CIA402_OD_TARGET_VELOCITY `0x60FFU`

Target Velocity (I32)

define SYN_CIA402_OD_TORQUE_ACTUAL_VALUE¶

#define SYN_CIA402_OD_TORQUE_ACTUAL_VALUE `0x6077U`

Torque Actual Value (I16)

define SYN_CIA402_OD_TORQUE_SLOPE¶

#define SYN_CIA402_OD_TORQUE_SLOPE `0x6087U`

Torque Slope (U32, units/s)

define SYN_CIA402_OD_VELOCITY_ACTUAL_VALUE¶

#define SYN_CIA402_OD_VELOCITY_ACTUAL_VALUE `0x606CU`

Velocity Actual Value (I32)

define SYN_CIA402_SW_FAULT¶

#define SYN_CIA402_SW_FAULT `(1U << 3)`

Bit 3: Fault Active

define SYN_CIA402_SW_FOLLOWING_ERROR¶

#define SYN_CIA402_SW_FOLLOWING_ERROR `(1U << 13)`

Bit 13: Following Error Active (PP)

define SYN_CIA402_SW_HOMING_ATTAINED¶

#define SYN_CIA402_SW_HOMING_ATTAINED `(1U << 12)`

Bit 12: Homing Attained (HM)

define SYN_CIA402_SW_HOMING_ERROR¶

#define SYN_CIA402_SW_HOMING_ERROR `(1U << 13)`

Bit 13: Homing Error (HM)

define SYN_CIA402_SW_INTERNAL_LIMIT¶

#define SYN_CIA402_SW_INTERNAL_LIMIT `(1U << 11)`

Bit 11: Internal / Software Limit Active

define SYN_CIA402_SW_MANUFACTURER_8¶

#define SYN_CIA402_SW_MANUFACTURER_8 `(1U << 8)`

Bit 8: Manufacturer Specific

define SYN_CIA402_SW_OPERATION_ENABLED¶

#define SYN_CIA402_SW_OPERATION_ENABLED `(1U << 2)`

Bit 2: Operation Enabled

define SYN_CIA402_SW_QUICK_STOP¶

#define SYN_CIA402_SW_QUICK_STOP `(1U << 5)`

Bit 5: Quick Stop Inactive (1=normal, 0=quick stop)

define SYN_CIA402_SW_READY_TO_SWITCH_ON¶

#define SYN_CIA402_SW_READY_TO_SWITCH_ON `(1U << 0)`

Bit 0: Ready to Switch On

define SYN_CIA402_SW_REMOTE¶

#define SYN_CIA402_SW_REMOTE `(1U << 9)`

Bit 9: Remote Control Active

define SYN_CIA402_SW_SETPOINT_ACK¶

#define SYN_CIA402_SW_SETPOINT_ACK `(1U << 12)`

Bit 12: Setpoint Acknowledge (PP)

define SYN_CIA402_SW_SPEED_ZERO¶

#define SYN_CIA402_SW_SPEED_ZERO `(1U << 12)`

Bit 12: Speed 0 (PV)

define SYN_CIA402_SW_SWITCHED_ON¶

#define SYN_CIA402_SW_SWITCHED_ON `(1U << 1)`

Bit 1: Switched On

define SYN_CIA402_SW_SWITCH_ON_DISABLED¶

#define SYN_CIA402_SW_SWITCH_ON_DISABLED `(1U << 6)`

Bit 6: Switch On Disabled

define SYN_CIA402_SW_TARGET_REACHED¶

#define SYN_CIA402_SW_TARGET_REACHED `(1U << 10)`

Bit 10: Target Position / Velocity Reached

define SYN_CIA402_SW_VOLTAGE_ENABLED¶

#define SYN_CIA402_SW_VOLTAGE_ENABLED `(1U << 4)`

Bit 4: Power Stage Voltage Enabled

define SYN_CIA402_SW_WARNING¶

#define SYN_CIA402_SW_WARNING `(1U << 7)`

Bit 7: Drive Warning

The documentation for this class was generated from the following file src/syntropic/proto/syn_cia402.h